File size: 1,210 Bytes
fa110ba | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 | urdf_path: "./urdf/arx5_description_isaac.urdf"
srdf_path: "./srdf/arx5_description_isaac.srdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffness: 1000
gripper_damping: 200
move_group: ["fl_link6","fr_link6"]
ee_joints: ["fl_joint6", "fr_joint6"]
arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]]
gripper_name:
- base: "fl_joint7"
mimic: [["fl_joint8", 1., 0.]]
- base: "fr_joint7"
mimic: [["fr_joint8", 1., 0.]]
gripper_bias: 0.12
gripper_scale: [-0.01, 0.045]
homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]]
delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
robot_pose: [[0, -0.65, 0.0, 0.707, 0, 0, 0.707]]
# planner: "mplib_screw"
planner: "curobo"
dual_arm: True
rotate_lim: [0, 1]
grasp_perfect_direction: ['front_right', 'front_left']
static_camera_list:
- name: head_camera
type: D435
position:
- -0.032
- -0.45
- 1.35
forward:
- 0
- 0.6
- -0.8
left:
- -1
- 0
- 0
- name: front_camera
type: D435
position:
- 0
- -0.45
- 0.85
forward:
- 0
- 1
- -0.1
left:
- -1
- 0
- 0 |